#!/usr/bin/env python
PACKAGE = "driver"

from dynamic_reconfigure.parameter_generator_catkin import *

gen = ParameterGenerator()

base2steer = gen.add_group("base2steer", "hide", state = True)
# name, type, level, description, default, min, max
base2steer.add("sreduction_ratio",  double_t, 0, "steer reduction_ratio.", 0, 1, 100)
base2steer.add("sratio",  double_t, 0, "steer ratio.", 0, 1, 100)
base2steer.add("spos_scale",  double_t, 0, "streer pos_scale", 0, 1, 100)
base2steer.add("spos_offset",  double_t, 0, "streer pos_offset", 0, 0, 100)
base2steer.add("szero_point_correction",  double_t, 0, "streer zero_point_correction", 0, 0, 100)
#base2steer.add("suse_extra_encoder",  bool_t, 0, "streer use_extra_encoder", False)

steer2sd = gen.add_group("steer2sd", "hide", state = True)
# name, type, level, description, default, min, max
steer2sd.add("dreduction_ratio",  double_t, 0, "driver reduction_ratio.", 0, 1, 100)
steer2sd.add("dratio",  double_t, 0, "driver ratio.", 0, 1, 100)
steer2sd.add("dpos_scale",  double_t, 0, "driver pos_scale", 0, 1, 100)
steer2sd.add("dpos_offset",  double_t, 0, "driver pos_offset", 0, 0, 100)
steer2sd.add("dzero_point_correction",  double_t, 0, "driver zero_point_correction", 0, 0, 100)
#steer2sd.add("duse_extra_encoder",  bool_t, 0, "driver use_extra_encoder", False)

forklift = gen.add_group("forklift", "hide", state = True)
# name, type, level, description, default, min, max
forklift.add("lreduction_ratio",  double_t, 0, "lift reduction_ratio.", 0, 1, 100)
forklift.add("lratio",  double_t, 0, "lift ratio.", 0, 1, 100)
forklift.add("lpos_scale",  double_t, 0, "lift pos_scale", 0, 1, 100)
forklift.add("lpos_offset",  double_t, 0, "lift pos_offset", 0, 0, 100)
forklift.add("lzero_point_correction",  double_t, 0, "lift zero_point_correction", 0, 0, 100)
#forklift.add("luse_extra_encoder",  bool_t, 0, "lift use_extra_encoder", False)

# node name, file name
exit(gen.generate(PACKAGE, "sddriver", "params"))
